kopia lustrzana https://github.com/OpenRTX/OpenRTX
101 wiersze
3.0 KiB
C++
101 wiersze
3.0 KiB
C++
/***************************************************************************
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* Copyright (C) 2022 - 2023 by Federico Amedeo Izzo IU2NUO, *
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* Niccolò Izzo IU2KIN *
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* Frederik Saraci IU2NRO *
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* Silvano Seva IU2KWO *
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* *
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* This program is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU General Public License as published by *
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* the Free Software Foundation; either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public License *
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* along with this program; if not, see <http://www.gnu.org/licenses/> *
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***************************************************************************/
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#ifndef PWMCOMPENSATOR_H
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#define PWMCOMPENSATOR_H
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#ifndef __cplusplus
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#error This header is C++ only!
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#endif
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#include <array>
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#include <cstddef>
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#include <cstdint>
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/**
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* Compensation filter for MDx PWM-based baseband output.
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*/
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class PwmCompensator
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{
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public:
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/**
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* Constructor.
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*/
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PwmCompensator()
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{
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reset();
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}
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/**
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* Destructor.
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*/
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~PwmCompensator() { }
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/**
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* Perform one step of the filter, computing a new output value given
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* the input value and the history of previous input values.
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*
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* @param input: input value for the current time step.
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* @return output as a function of the current and past input values.
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*/
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float operator()(const float& input)
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{
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u[0] = input;
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y[0] = b[0] * u[0]
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+ b[1] * u[1]
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+ b[2] * u[2]
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- a[1] * y[1]
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- a[2] * y[2];
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for(size_t i = 2; i > 0; i--)
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{
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u[i] = u[i - 1];
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y[i] = y[i - 1];
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}
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return y[0];
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}
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/**
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* Reset history, clearing the memory of past values.
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*/
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void reset()
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{
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u.fill(0.0f);
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y.fill(0.0f);
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}
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private:
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static constexpr float b[3]={
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4.098580379420818f, -5.206850085165959f, 1.539109584496514f
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};
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static constexpr float a[3]={
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0.0f, -0.044699895066380f, 0.000446359429843f
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};
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std::array< float, 3 > u; ///< History of past inputs.
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std::array< float, 3 > y; ///< History of past outputs.
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};
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#endif /* PWMCOMPENSATOR_H */
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